A robot for installing a pipe and a hoisting alignment method thereof

Abstract

The present application relates to a kind of robot for installing pipeline and hoisting alignment method thereof, robot is used to install the pipeline to be installed on existing pipeline, including mobile unit and with existing pipeline fixed unit, fixed clamp and internal rotation centering unit mechanical arm, the mechanical arm is installed on mobile unit, the fixed clamp and existing pipeline fixed unit make the pipeline to be installed and existing pipeline complete first alignment, the internal rotation centering unit is inserted into the pipeline to be installed, under the cooperation of fixed clamp and internal rotation centering unit, the pipeline to be installed and existing pipeline complete again alignment, hoisting method is used to adjust the pose of the pipeline to be installed and align with existing pipeline. By fixed clamp and internal rotation centering unit, the twice alignment of the pipeline to be installed and existing pipeline is realized, by the twice positioning logic of coarse alignment (fixed clamp) and fine alignment (rotation centering unit), eliminate deviation, reduce operation difficulty, improve the efficiency and precision of pipeline butt joint.

Description

Technical Field

[0001] This invention relates to the field of pipeline installation technology, and in particular to a robot for installing pipelines and its hoisting and alignment method. Background Technology

[0002] In daily life and production, pipelines are used in two main ways: one is for transporting liquids and gases, such as water pipelines; the other is used as a protective casing, such as the application of electrical conduits in power corridors. Both types of pipelines are characterized by long service life, so their installation, maintenance, and repair are very important.

[0003] Different pipelines have different performance requirements, so their installation methods also vary. These include methods such as centering and embedding followed by welding, aligning flanges and tightening screws for sealing, screw tightening, and clamp tightening. Large pipelines are generally heavy and long, especially in smaller indoor spaces. Installing heavy pipelines at greater heights often requires scaffolding, using ropes and lifting rings to build a platform and move it step by step to the target location. Then, manual alignment and securing of the pipeline are performed. The installation process involves significant swaying and difficulty in aligning flange holes, making it extremely time-consuming, labor-intensive, costly, and posing significant safety hazards.

[0004] With technological advancements, pipeline installation now often relies on electromechanical equipment. Hydraulics and electricity are used to achieve three-dimensional spatial displacement of the pipeline in the X, Y, and Z directions, followed by positioning using a fixed static end and a movable dynamic end. The equipment required is mobile, such as movable cranes, electric hoists, and forklifts. Large pipelines are heavy, requiring correspondingly large equipment, which is unsuitable in some situations. In short, mobility, high power, multiple degrees of freedom, and adjustability are essential attributes for pipeline installation equipment.

[0005] Chinese patent application CN104791579B discloses a pipeline robot, comprising a body, a power mechanism, a walking mechanism, a centering mechanism, a cleaning device, and a detection device. The power mechanism drives the walking mechanism based on the kinetic energy of the fluid inside the pipeline. The end of the centering mechanism is in contact with the inner wall of the pipeline, and a fixed position on the centering mechanism is located at the axis of the pipeline. The cleaning device is used to clean dirt from the inner wall of the pipeline, and the detection device is used to detect physical properties such as the thickness of the inner wall of the pipeline. However, this patent does not enable the aligned installation of pipelines.

[0006] Therefore, providing a robot capable of aligning and installing pipes is an urgent problem that needs to be solved. Summary of the Invention

[0007] The purpose of this invention is to overcome the defects of the prior art by providing a robot for installing pipes and its hoisting and alignment method.

[0008] The objective of this invention can be achieved through the following technical solutions: According to one aspect of the present invention, a robot for installing pipes is provided. The robot is used to install a pipe to be installed onto an existing pipe, comprising a moving unit and a robotic arm with an existing pipe fixing unit, a fixing clamp, and an internal rotation centering unit. The robotic arm is mounted on the moving unit. The fixing clamp and the existing pipe fixing unit perform an initial alignment between the pipe to be installed and the existing pipe. The internal rotation centering unit extends into the pipe to be installed and, with the cooperation of the fixing clamp and the internal rotation centering unit, performs a second alignment between the pipe to be installed and the existing pipe.

[0009] As a preferred technical solution, the fixing fixture includes a clamping part, a clamping control unit, an angle control unit, and a universal wheel lifting point. The clamping part, the clamping control unit, and the angle control unit are connected in sequence, and the universal wheel lifting point is installed on the clamping control unit.

[0010] As a preferred technical solution, the clamping part includes a ball, a clamping claw, a friction layer, and a positioning post. The clamping claw includes an inner ring and an outer ring. The clamping claw is mounted on the clamping control unit. The friction layer is mounted on the inner ring of the clamping claw. The positioning post is mounted on the outer ring of the clamping claw and passes through the clamping claw and the friction layer. The ball is mounted on the positioning post.

[0011] As a preferred technical solution, the internal rotation centering unit includes a detection mechanism, a tensioning mechanism, and a linkage mechanism. The detection mechanism is mounted on the tensioning mechanism, and the tensioning mechanism is mounted on the linkage mechanism.

[0012] As a preferred technical solution, the detection mechanism includes a detection bracket, a pin, a pin adjustment motor, and a void detection sensor. The pin, the pin adjustment motor, and the void detection sensor are all mounted on the detection bracket. The pin and the void detection sensor are installed adjacent to each other and coaxial. The pin adjustment motor is connected to the pin and drives the pin and the void detection sensor to move up and down along the detection bracket.

[0013] As a preferred technical solution, the tensioning mechanism includes a tensioning bracket, a rotary motor, and a tensioning column. The rotary motor is mounted on the tensioning bracket and is located at the center of the tensioning bracket. The tensioning column is mounted on the tensioning bracket and is connected to the rotary motor.

[0014] As a preferred technical solution, the linkage mechanism includes a translational push rod, a rotating push rod, and a triangular bracket. The rotating push rod and the triangular bracket are movably connected. The triangular bracket is movably connected to both the translational push rod and the rotating push rod. The triangular bracket is also connected to a tensioning bracket.

[0015] As a preferred technical solution, the robotic arm further includes a first-order rotating mechanism, a second-order mounting mechanism, and an end effector. The first-order rotating mechanism is mounted on the moving unit, and the first-order rotating mechanism, the second-order mounting mechanism, and the end effector are connected in sequence. The end effector is connected to a fixing fixture.

[0016] As a preferred technical solution, the robotic arm further includes a moving mechanism, which includes a moving frame, an overall angle adjustment unit, and a translation motor. The overall angle adjustment unit and the translation motor are both mounted on the moving frame. The overall angle adjustment unit is connected to the end push rod. The fixing fixture, the internal rotation unit, and the existing pipe fixing unit are all mounted on the moving frame. The internal rotation unit is mounted between the fixing fixture and the existing pipe fixing unit.

[0017] According to another aspect of the present invention, a lifting alignment method based on a robot for installing pipes as described above is provided. The robot further includes a lifting rope, a lifting platform, a lifting winch, omnidirectional pulleys, and an angle control module. The lifting platform, the lifting winch, and the angle control module are all mounted on a moving unit. The omnidirectional pulleys are respectively mounted on the robotic arm and the lifting platform. The lifting rope passes sequentially through the omnidirectional pulleys of the lifting winch, the lifting platform, and the robotic arm. The method includes the following steps: S1. The fixing clamp of the robotic arm holds and fixes the pipe to be installed. The hoisting winch is connected to the robotic arm through a hoisting rope. Then the robot moves to the installation position. S2. The angle control module monitors the current position of the pipe to be installed in real time and compares it with the position of the existing pipe. S3. Based on the comparison results, adjust the position of the pipe to be installed through the angle control module to align with the existing pipe and achieve the first alignment. S4. The internal rotating centering unit extends into the pipe to be installed and contacts the inner wall of the pipe to be installed to be fixed as a whole. The internal rotating centering unit is used to detect whether the flange holes of the pipe to be installed and the existing pipe are aligned. S5. If not aligned, the internal rotation centering unit rotates the pipe to be installed and aligns it with the flange hole of the existing pipe. Then, the internal rotation centering unit exits the pipe to be installed and keeps the position of the pipe to be installed unchanged. The robotic arm moves the pipe to be installed and contacts the existing pipe. S6. If already aligned, the robotic arm moves the pipe to be installed and makes contact with the existing pipe.

[0018] Compared with the prior art, the present invention has the following effects: 1. This invention achieves two-stage alignment between the pipe to be installed and the existing pipe through a fixed clamp and an internal rotating centering unit. It can correct pipe misalignment caused during alignment and clamping, as well as pipe movement deviation in the alignment flange hole of the pin shaft. Through the two positioning logics of coarse alignment (fixed clamp) and fine alignment (rotating centering unit), the two types of deviations in the installation process are eliminated at the source, greatly reducing the difficulty of manual operation and improving the efficiency and accuracy of pipe connection.

[0019] 2. The internal rotation centering unit of the present invention is equipped with a rotary motor. The rotary motor pushes the tensioning column to contact the inner wall of the pipe, which is used to tighten the inner cavity of the pipe to be installed and to rotate the pipe to be installed so that the pipe to be installed is aligned with the existing pipe.

[0020] 3. The present invention includes a pin and a gap detection sensor, which are arranged back-to-back and coaxially to detect whether the holes of the pipe to be installed and the existing pipe are aligned.

[0021] 4. The fixing clamp of the present invention is provided with clamping claws, friction layer and positioning post. By controlling the opening and closing degree of the clamping claws, the friction layer or positioning post clamps the surface of the pipe to be installed, providing different clamping forces to achieve clamping of the pipe to be installed in different states.

[0022] 5. The positioning post of the present invention is provided with a ball bearing. The positioning post is used to clamp the pipe to be installed. Since the ball bearing and the pipe to be installed are in contact, it is a movable connection. In this state, the pipe to be installed can be rotated by the rotation action of the internal rotation centering unit.

[0023] 6. By setting an angle control module, this invention can detect the position and orientation of the pipe to be installed and make real-time adjustments based on the position and orientation of the existing pipe to complete the alignment between pipes. Attached Figure Description

[0024] Figure 1 This is a side view of the overall structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the structure of the moving mechanism of the present invention; Figure 4 This is a detailed schematic diagram of the moving mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the fixing clamp of the present invention; Figure 6 This is a schematic diagram of the pipeline installation of the present invention; Figure 7 This is an enlarged schematic diagram of the pipe installation location of the present invention; Figure 8Schematic diagram of the pipeline lifting mechanism of this invention; 1. Moving unit; 2. Pipe to be installed; 3. Existing pipe; 4. Robotic arm; 5. Universal caster; 6. Lifting platform; 7. Lifting winch; 8. Grip unit; 41. Fixing clamp; 42. Internal rotation centering unit; 43. First-order rotation mechanism; 44. Second-order installation mechanism; 45. End push rod; 46. Moving mechanism; 47. Existing pipe fixing unit; 411. Clamping part; 412. Clamping control unit; 413. Angle control unit; 414. Universal caster lifting point; 461. Moving frame; 46 2. Overall angle adjustment unit; 463. Translation motor; 4111. Clamping claw; 4112. Friction layer; 4113. Positioning pin; 421. Detection mechanism; 422. Tensioning mechanism; 423. Linkage mechanism; 4211. Detection bracket; 4212. Pin shaft; 4213. Pin shaft adjustment motor; 4214. Empty space detection sensor; 4221. Tensioning bracket; 4222. Rotary motor; 4223. Tensioning pin; 4231. Translation push rod; 4232. Rotary push rod; 4233. Triangular bracket. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] Example 1 like Figure 1 and Figure 3 As shown, the robot is used to install the pipe 2 to be installed onto the existing pipe 3. It includes a moving unit 1 and a robotic arm 4 with an existing pipe fixing unit 47, a fixing clamp 41 and an internal rotation centering unit 42. The robotic arm 4 is mounted on the moving unit 1. The fixing clamp 41 and the existing pipe fixing unit 47 complete the first alignment of the pipe 2 to be installed and the existing pipe 3. The internal rotation centering unit 42 extends into the pipe 2 to be installed, and with the cooperation of the fixing clamp 41 and the internal rotation centering unit 42, the pipe 2 to be installed and the existing pipe 3 complete the second alignment.

[0027] like Figure 4 As shown, the fixing clamp 41 includes a clamping part 411, a clamping control unit 412, an angle control unit 413, and a universal wheel lifting point 414. The clamping part 411, the clamping control unit 412, and the angle control unit 413 are connected in sequence, and the universal wheel lifting point 414 is mounted on the clamping control unit 412.

[0028] like Figure 5As shown, the clamping part 411 includes a ball, a clamping claw 4111, a friction layer 4112, and a positioning post 4113. The clamping claw 4111 includes an inner ring and an outer ring. The clamping claw 4111 is mounted on the clamping control unit 412. The friction layer 4112 is mounted on the inner ring of the clamping claw 4111. The positioning post 4113 is mounted on the outer ring of the clamping claw 4111 and passes through the clamping claw 4111 and the friction layer 4112. The ball is mounted on the positioning post 4113. The positioning post 4113 can be driven by a rear motor to push the front arc-shaped chuck forward.

[0029] like Figure 3 As shown, the internal rotation centering unit 42 includes a detection mechanism 421, a tensioning mechanism 422, and a linkage mechanism 423. The detection mechanism 421 is mounted on the tensioning mechanism 422, and the tensioning mechanism 422 is mounted on the linkage mechanism 423.

[0030] like Figure 4 As shown, the detection mechanism 421 includes a detection bracket 4211, a pin 4212, a pin adjustment motor 4213, and a gap detection sensor 4214. The pin 4212, the pin adjustment motor 4213, and the gap detection sensor 4214 are all mounted on the detection bracket 4211. The pin 4212 and the gap detection sensor 4214 are installed adjacent to each other and coaxial. The pin adjustment motor 4213 is connected to the pin 4212 and drives the pin 4212 and the gap detection sensor 4214 to move up and down along the detection bracket 4211.

[0031] like Figure 4 As shown, the tensioning mechanism 422 includes a tensioning bracket 4221, a rotary motor 4222, and a tensioning column 4223. The rotary motor 4222 is mounted on the tensioning bracket 4221 and is located at the center of the tensioning bracket 4221. The tensioning column 4223 is mounted on the tensioning bracket 4221 and is connected to the rotary motor 4222.

[0032] like Figure 4 As shown, the linkage mechanism 423 includes a translation push rod 4231, a rotation push rod 4232, and a triangular bracket 4233. The rotation push rod 4232 and the triangular bracket 4233 are movably connected. The triangular bracket 4233 is movably connected to both the translation push rod 4231 and the rotation push rod 4232. The triangular bracket 4233 is also connected to the tensioning bracket 4221.

[0033] like Figure 2 and Figure 6As shown, the robotic arm 4 also includes a first-order rotating mechanism 43, a second-order mounting mechanism 44, and an end effector 45. The first-order rotating mechanism 43 is mounted on the moving unit 41. The first-order rotating mechanism 43, the second-order mounting mechanism 44, and the end effector 45 are connected in sequence. The end effector 45 is connected to the fixed clamp 41. The robotic arm 4 is symmetrically distributed. The symmetrically distributed first-order rotating mechanisms 43 operate synchronously. The second-order mounting mechanism 44 and the end effector 45 are respectively adjusted in angle by fixed angle adjustment mechanisms. The end effector 45 is not limited to being mounted on the mounting mechanism 44; it can be adjusted separately and is not limited to two units.

[0034] like Figure 4 As shown, the robotic arm 4 also includes a moving mechanism 46, which comprises a moving frame 461, an overall angle adjustment unit 462, and a translation motor 463. Both the overall angle adjustment unit 462 and the translation motor 463 are mounted on the moving frame 461. The overall angle adjustment unit 462 is connected to the end push rod 45. The fixing clamp 41, the internal rotation unit 42, and the existing pipe fixing unit 47 are all mounted on the moving frame 461. Specifically, the translation motor 463 has two motors: one motor drives the clamping part 411, the clamping control unit 412, and the universal wheel lifting point 414 as a whole to move towards the fixed clamping end; the other motor drives the linkage mechanism 423, the tensioning mechanism 422, and other components to move as a whole.

[0035] like Figure 6 and Figure 7 As shown, the internal rotating unit 42 is installed between the fixing clamp 41 and the existing pipe fixing unit 47.

[0036] In this embodiment, the present invention designs multiple fixing clamps 41 or one existing pipe fixing unit 47. The fixing clamps 41 are used to clamp and fix the pipe 2 to be installed, and the existing pipe fixing unit 47 is used to clamp and fix the existing pipe 3. There are two connection methods between the fixing clamps 41 and the robotic arm 4. First, the fixing clamps 41 are directly connected to the end push rod 45. Second, the outermost fixing clamps 41, the existing pipe fixing unit 47, and the inner rotary centering unit 42 are combined together and connected to the end push rod 45 through the moving mechanism 46. The inner rotary centering unit 42 is located between the existing pipe fixing unit 47 and the outermost fixing clamps 41. The inner rotary centering unit 42 can move axially on the moving mechanism 46 to facilitate insertion into or extension out of the inner cavity of the pipe 2 to be installed.

[0037] The fixing clamp 41 has a similar structure to the existing pipe fixing unit 47, both including a clamping part 411. The clamping part consists of two clamping claws 4111, which together form a C-shaped clamping claw. Clamping is achieved by controlling the opening and closing degree of the clamping claws 4111. The difference is that, based on the clamping claws 4111, the clamping part 411 of the fixing clamp 41 also includes a friction layer 4112 and positioning posts 4113. There are six positioning posts 4113, which are distributed at intervals on the clamping claws 4111. The friction layer 4112 is installed in the clamping claws 4111 and has a cavity. The positioning posts 4113 pass through the clamping claws 4111 and the friction layer 4112 and are located on the surface of the friction layer 4112. The positioning post 4113 includes a positioning post clamping motor, a clamping post, and a clamping part. The clamping motor, clamping post, and clamping part are connected in sequence. The clamping part is installed in the cavity and has multiple balls. The positioning column 4113 can be driven by the rear motor to push the front arc-shaped claw forward.

[0038] In use, the clamping jaws 4111 close, causing the friction layer 4112 to contact the surface of the pipe 2 to be installed. At this time, the clamping part is relatively displaced from the friction layer 4112, and the clamping part is displaced into the cavity of the friction layer 4112 and does not contact the surface of the pipe to be installed, thus fixing the pipe to be installed. When it is necessary to rotate the pipe 2 to be installed, the clamping jaws 4111 are released, so that the friction layer 4112 does not contact the surface of the pipe 2 to be installed. At the same time, the positioning column clamps the motor to make the clamping part extend out of the cavity, that is, the ball bearings of the clamping part contact the surface of the pipe 2 to be installed. Under the action of the ball bearings, the pipe 2 to be installed can be rotated while being fixed.

[0039] The fixing clamp 41 and the existing pipe fixing unit 47 also include a clamping control unit 412, an angle control unit 413, and a caster lifting point 414. The clamping control unit 412 is used to control the opening and closing of the clamping claw 4111; the angle control unit 413 is used to control the rotation angle of the clamping part 411; both the clamping control unit 412 and the angle control unit 413 include motors and are driven by the motors. Casters 5 are installed on the caster lifting point 414 for easy lifting.

[0040] The internal rotation centering unit 42 includes a detection mechanism 421, a tensioning mechanism 422, and a linkage mechanism 423. The detection mechanism 421 includes a detection bracket 4211, a pin 4212, a pin adjusting motor 4213, and a gap detection sensor 4214. The detection bracket 4211 is provided with a moving hole. The pin 4212 and the gap detection sensor 4214 move up and down in the moving hole under the action of the pin adjusting motor 4213. The pin 4212 and the gap detection sensor 4214 are coaxial (i.e., set back to back, detecting opposite directions respectively). The gap detection sensor 4214 is used to detect whether the other side of the straight line with the pin 4212 is empty. When the pin 4212 is inserted into the flange hole of the pipe 2 to be installed, the detection mechanism 421 will rotate when the tensioning mechanism 422 rotates. The gap detection sensor 4214 detects whether there is a gap in real time. It stops when a gap is detected, thus realizing the alignment of the flange hole of the pipe 2 to be installed and the flange hole of the existing pipe 3.

[0041] The tensioning mechanism 422 includes a tensioning bracket 4221, a rotary motor 4222, and tensioning columns 4223. The tensioning bracket 4221 is a ring-shaped plate, and the tensioning columns 4223 are spaced apart on the tensioning bracket 4221. It also includes a tensioning column motor, which is connected to the tensioning columns 4223 and controls the extension or retraction of the tensioning columns 4223. When the tensioning columns 4223 extend and abut against the inner wall of the pipe 2 to be installed, tensioning is completed. The tensioning column motor is connected to the rotary motor 4222 located at the center of the tensioning bracket 4221. When tensioning is achieved through the tensioning columns 4223, a clamping part should be used for fixation. The rotary motor 4222 rotates, thereby driving the pipe 2 to be installed to rotate and changing its position. The tensioning columns 4223 are driven by a tail motor, allowing their front arc-shaped friction surfaces to extend forward and be evenly distributed along the circumference of the tensioning bracket 4221.

[0042] The linkage mechanism 423 is equipped with various types of links. The triangular bracket 4233 has three ends. The first end is movably connected to the tensioning mechanism 422, the second end is movably connected to the rotary push rod 4232, and the third end is movably connected to the translational push rod 4231. The rotary push rod 4232 and the translational push rod 4231 are also movably connected. It also includes a rotary push rod motor, which is connected to the rotary push rod 4232. The rotary push rod motor is used to make the rotary push rod 4232 rotate at the connection between the rotary push rod 4232 and the translational push rod 4231. The three links form multiple connection fulcrums. Changing the length of the rotary push rod 4232 drives the rotation of the triangular bracket 4232. The translational push rod 4231 is mounted on the moving mechanism 46 for axial movement.

[0043] In this embodiment, the moving mechanism 46 is connected to the existing pipe fixing unit 47, the internal rotation centering mechanism 42, and the outermost fixing clamp 41. The moving mechanism 46 includes a moving frame 461, an overall angle adjustment unit 462, and a translation motor 463. Both the overall angle adjustment unit 462 and the translation motor 463 are mounted on the moving frame 461, and the translation push rod 4231 is also mounted on the moving frame 461. The end push rod 45 is movably connected to the overall angle adjustment unit 462.

[0044] The robotic arm 4 has a symmetrical structure, consisting of left and right arms. The first stage of the left and right arms is an angle-transmitting joint, which moves synchronously on the same axis. The robotic arm 4 is composed of a first-stage rotating mechanism 43, a second-stage mounting mechanism 44, and an end effector push rod 45. The first-stage rotating mechanism 43 realizes the overall rotation of the robotic arm 4. The second-stage mounting mechanism 44 is used to connect the first-stage rotating mechanism 43 and the end effector push rod 45. The end effector push rod 45 is used to control the position and orientation of the fixing clamp 41 and the existing pipe fixing unit 47, thereby achieving the alignment of the pipe to be installed 2 and the existing pipe 3. The second-stage mounting mechanism 44 and the end effector push rod 45 both include a directional push rod and a telescopic push rod. The directional push rod is connected to the telescopic push rod at a certain tilt angle. The angle of the telescopic push rod is controlled by the directional push rod. The telescopic push rod is used to control the distance between the fixing clamp 41 and the existing pipe fixing unit 47 and the moving unit 1. The position and orientation of the pipe to be installed 2 are controlled by the combined action of the directional push rod and the telescopic push rod.

[0045] Example 2 like Figure 8 As shown, the robot also includes a hoisting rope, a hoisting platform 6, a hoisting winch 7, omnidirectional pulleys 5, and an angle control module. The hoisting platform 6, the hoisting winch 7, and the angle control module are all mounted on the moving unit 1. The omnidirectional pulleys 5 are respectively mounted on the robotic arm 4 and the hoisting platform 6. The hoisting rope passes sequentially through the hoisting winch 7, the omnidirectional pulleys 5 of the hoisting platform 6, and the omnidirectional pulleys 5 of the robotic arm 4. The method includes the following steps: S1. The fixing clamp 41 of the robotic arm 4 clamps and fixes the pipe 2 to be installed. The hoisting winch 7 is connected to the robotic arm 4 through the hoisting rope. Then the robot moves to the installation position. S2. The angle control module monitors the current pose of the pipe 2 to be installed in real time and compares it with the pose of the existing pipe 3. S3. Based on the comparison results, adjust the position of the pipe 2 to be installed through the angle control module to align with the existing pipe 3 to achieve the first alignment. S4. The internal rotating centering unit 42 extends into the pipe 2 to be installed and contacts the inner wall of the pipe 2 to be installed and is fixed as a whole. The internal rotating centering unit 42 is used to detect whether the flange holes of the pipe 2 to be installed and the existing pipe 3 are aligned. S5. If not aligned, the internal rotation centering unit 42 rotates the pipe 2 to be installed and aligns it with the flange hole of the existing pipe 3. Then, the internal rotation centering unit 42 exits the pipe 2 to be installed and keeps the position of the pipe 2 unchanged. The robotic arm 4 moves the pipe 2 to be installed and contacts the existing pipe 3. S6. If the alignment is already in place, the robotic arm 4 moves the pipe to be installed 2 and makes contact with the existing pipe 3.

[0046] In this embodiment, since the installation target of the present invention is a heavy pipe, weighing up to several hundred kilograms, ensuring safety during pipe alignment is a crucial issue. The present invention also includes a hoisting platform 6, a hoisting winch 7, and a hoisting rope. The angle control module includes a horizontal detection sensor, a push cylinder, and an angle cylinder. Universal pulleys 5 are respectively installed on the hoisting platform 6 and the robotic arm 4. The hoisting rope is sequentially connected to the hoisting winch 7, the universal pulleys of the hoisting platform 6, and the universal pulleys of the robotic arm 4. Under the action of the hoisting winch 7, power is transmitted to the robotic arm 4 via the hoisting rope. The robotic arm 4 clamps the pipe 2 to be installed using a fixing clamp 41, thereby achieving the hoisting of the pipe 2. To ensure the position of the pipe 2 meets the requirements, the push cylinder provides power, and the angle cylinder controls the angle. During installation, the hoisting rope, push cylinder, and angle cylinder are all equipped with precise pressure and position sensors, maintaining the overall system's safety and stability in conjunction with the pipe's horizontal detection sensor. Overall coordination ensures effective installation.

[0047] The angle control module is connected to the hoisting winch 7 and is used to control the length of the hoisting rope to achieve the protection function. The hoisting of the pipe 2 to be installed is mainly carried out by the robotic arm 4. The hoisting rope is only used to pull the robotic arm 4 when the force is insufficient, and plays a safety protection function. After the approximate position is determined, the hoisting rope provides a safety guarantee for hoisting and safety during the operation of the robotic arm.

[0048] The specific usage process is as follows: First, the mobile robot arrives at the work site and pre-models a virtual environment through environmental perception, providing conditions for intelligent decision-making and visualization of the work process. At the same time, it predicts and identifies (or is manually guided) the location of the pipeline and the installation position of the existing pipeline 3, grabs the pipeline 2 to be installed and raises it to a suitable height, intelligently constructs a movement plan based on the pipeline length and the grab position, forms a route map, and performs autonomous operation after manual confirmation. If an accident occurs during the operation, it stops immediately, maintains an intelligent safety state and stops the operation, and proceeds to the next step only after manual confirmation of the situation.

[0049] During the grasping action, the mobile robot comes to the pipe 2 to be installed and first grasps the pipe 2 to be installed; after clamping, it is lifted to a suitable position by the robot, and the mobile robot moves to the suitable position and lifts it again to the installation position. At this time, the grasped pipe 2 to be installed is approximately on the same horizontal line as the existing pipe 3, completing the first alignment.

[0050] When the mobile robot is installed at a height, it lowers four gripping units 8. If movement is required during the process, the four gripping units 8 are slightly raised to provide support during installation and ensure the overall safety of the structure. Both ends of the pipe to be installed 2 and the existing pipe 3 are equipped with flanges, and flange holes are provided on the flanges. The pipe to be installed 2 and the existing pipe 3 are connected to each other through the flange holes.

[0051] The second alignment process is as follows (the second alignment process is a repetitive process, i.e., if the detection hole is not aligned, it will be adjusted again): Multiple fixing clamps 41 are used to fix the pipe 2 to be installed. The two pipes, the pipe 2 to be installed and the existing pipe 3, are basically concentric. The internal rotary centering unit 42 is moved to the inner cavity of the pipe 2 to be installed, and the rotary motor 4222 is controlled to drive the tensioning column 4223 to perform radial displacement to complete the first tensioning. After the first tightening, the clamping points of the other fixing clamps 41 remain fixed. The pin shaft 4212 is adjusted up and down by controlling the pin shaft adjusting motor 4213 to align with the flange hole. Then, the internal rotating centering unit 42 is moved so that the pin shaft 4212 passes through the flange hole. Then, the rotating motor 4222 is controlled to drive the tightening column 4223 to make radial displacement to complete the second tightening. The positioning columns 4113 of the other fixing clamps 41 are loosened alternately in sequence, so that the fixing clamps 41 and the pipe 2 to be installed can rotate relative to each other. Then, the rotating motor 4222 is driven. Since the pin shaft 4212 and the flange hole of the pipe 2 to be installed are engaged, the pipe 2 to be installed is rotated. When the sensor (i.e., the empty detection sensor 4214) at the rear of the pin shaft 4212 senses the screw hole opening of the existing pipe 3, the rotation stops, and the alignment of the flange hole of the pipe 2 to be installed and the existing pipe 3 is completed.

[0052] Then, unscrew the internal rotating centering unit 42 to detach it from the inner cavity of the pipe 2 to be installed, and replace the positioning post 4113 of the fixing clamp 41 with the friction layer 4112 of the fixing clamp 41 to clamp it; then adjust the lateral movement of the robot to drive the pipe 2 to be installed to be assembled with the existing pipe 3.

[0053] During the assembly process, a visual inspection hole alignment device is also set up. The visual inspection hole alignment device includes a second visual hole detection unit and a third visual hole detection unit, which are placed symmetrically on the flange end of the pipe to be installed. The alignment is determined by taking a picture of the two holes that are connected in the pre-positioned position. The second visual hole detection unit and the third visual hole detection unit form a dual-point positioning and two-way protection to determine whether the deviation during the movement is too large. After the flange holes are aligned, during the movement of the two pipe axes in the parallel direction, the pipe hole visual detector ensures that the holes are aligned during the movement.

[0054] In the first alignment, the angle control module is used to roughly align the pipe to be installed 2 and the existing pipe 3, making them coaxial and maintaining their current pose. In the second alignment, the internal rotation centering unit 42 includes a detection mechanism 421 and a tensioning mechanism 422. The tensioning mechanism 422 is inserted into the inner wall of the pipe 2 to be installed and fixed to the inner wall of the pipe 2. Since the pin 4212 and the empty space detection sensor 4214 in the detection mechanism 421 are installed adjacently and coaxially, they are used to locate the flange hole of the pipe 2 to be installed and to detect the flange hole of the existing pipe 3, respectively. That is, the pin 4212 is located in the flange hole of the pipe 2 to be installed. Since they are coaxially set, the empty space detection sensor 4214 detects whether the corresponding position on the existing pipe is a flange hole, so that the flange holes on different pipes are aligned (the pin 4212 and the empty space detection sensor 4214 can be regarded as two pins with different directions). The system uses a coaxial design to make two rays a straight line. When the flange holes of different pipes are on the same straight line, alignment is achieved. If the result of the gap detection sensor 4214 is empty, it is a flange hole. If the result of the gap detection sensor 4214 is not empty, it is not a flange hole. The pipe to be installed 2 needs to be rotated until the detection result is empty, indicating that the flange hole of the pipe to be installed 2 has been aligned with the flange hole of the existing pipe 3 and can be installed. Then, the internal rotation centering unit 42 is removed from the pipe to be installed 2. When the alignment detection of the second visual hole position detection unit and the third visual hole position detection unit is normal, the pipe to be installed 2 is moved along the current axis to contact the existing pipe 3. Bolts and other connecting parts are installed on the flange hole to complete the final installation.

[0055] The movement of the pipe to be installed 2 by the robotic arm 4 includes two methods. The first method is to keep the fixed clamp 41 and the internal rotation centering unit 42 stationary, and move the pipe to be installed 2 by adjusting the first-order rotation mechanism 44, the second-order installation mechanism 45 and the end push rod 45. The second method is to use the cooperation of the moving frame 461, the overall angle adjustment unit 462 and the translation motor 463 to clamp the pipe to be installed 2 using the friction layer 4112 on the internal rotation centering unit 42 to prevent the pipe from rotating. Then, drive the overall angle adjustment unit 462 or the translation motor 463. Since the part that clamps the pipe (i.e., the clamping part 411) is installed on the moving frame 461, the translation motor 463 can make the moving frame 461 move horizontally, and the overall angle adjustment unit 462 can make the moving frame 461 rotate as a whole, thereby changing the position of the clamping part 411 and ultimately changing the position of the pipe to be installed 2. With the cooperation of the vision detection device, the pipe to be installed 2 is driven to fit against the installed pipe 3.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot for installing pipes, the robot being used to install a pipe (2) to be installed onto an existing pipe (3), characterized in that, The device includes a moving unit (1) and a robotic arm (4) with an existing pipe fixing unit (47), a fixing clamp (41) and an internal rotation centering unit (42). The robotic arm (4) is mounted on the moving unit (1). The fixing clamp (41) and the existing pipe fixing unit (47) enable the pipe to be installed (2) and the existing pipe (3) to complete the first alignment. The internal rotation centering unit (42) extends into the pipe to be installed (2) and, with the cooperation of the fixing clamp (41) and the internal rotation centering unit (42), enables the pipe to be installed (2) and the existing pipe (3) to complete the second alignment.

2. The robot for installing pipes according to claim 1, characterized in that, The fixing clamp (41) includes a clamping part (411), a clamping control unit (412), an angle control unit (413), and a universal wheel lifting point (414). The clamping part (411), the clamping control unit (412), and the angle control unit (413) are connected in sequence, and the universal wheel lifting point (414) is mounted on the clamping control unit (412).

3. A robot for installing pipes according to claim 2, characterized in that, The clamping part (411) includes a ball, a clamping claw (4111), a friction layer (4112), and a positioning post (4113). The clamping claw (4111) includes an inner ring and an outer ring. The clamping claw (4111) is mounted on the clamping control unit (412). The friction layer (4112) is mounted on the inner ring of the clamping claw (4111). The positioning post (4113) is mounted on the outer ring of the clamping claw (4111) and passes through the clamping claw (4111) and the friction layer (4112). The ball is mounted on the positioning post (4113).

4. The robot for installing pipes according to claim 1, characterized in that, The internal rotation centering unit (42) includes a detection mechanism (421), a tensioning mechanism (422), and a linkage mechanism (423). The detection mechanism (421) is mounted on the tensioning mechanism (422), and the tensioning mechanism (422) is mounted on the linkage mechanism (423).

5. A robot for installing pipes according to claim 4, characterized in that, The detection mechanism (421) includes a detection bracket (4211), a pin (4212), a pin adjustment motor (4213), and a vacancy detection sensor (4214). The pin (4212), the pin adjustment motor (4213), and the vacancy detection sensor (4214) are all mounted on the detection bracket (4211). The pin (4212) and the vacancy detection sensor (4214) are installed adjacent to each other and coaxial. The pin adjustment motor (4213) is connected to the pin (4212) and drives the pin (4212) and the vacancy detection sensor (4214) to move up and down along the detection bracket (4211).

6. A robot for installing pipes according to claim 5, characterized in that, The tensioning mechanism (422) includes a tensioning bracket (4221), a rotary motor (4222), and a tensioning column (4223). The rotary motor (4222) is mounted on the tensioning bracket (4221) and is located at the center of the tensioning bracket (4221). The tensioning column (4223) is mounted on the tensioning bracket (4221) and is connected to the rotary motor (4222).

7. A robot for installing pipes according to claim 6, characterized in that, The linkage mechanism (423) includes a translation push rod (4231), a rotation push rod (4232), and a triangular bracket (4233). The rotation push rod (4232) and the triangular bracket (4233) are movably connected. The triangular bracket (4233) is movably connected to the translation push rod (4231) and the rotation push rod (4232) respectively. The triangular bracket (4233) is also connected to the tensioning bracket (4221).

8. A robot for installing pipes according to claim 1, characterized in that, The robotic arm (4) also includes a first-order rotating mechanism (43), a second-order mounting mechanism (44), and an end effector (45). The first-order rotating mechanism (43) is mounted on the moving unit (41). The first-order rotating mechanism (43), the second-order mounting mechanism (44), and the end effector (45) are connected in sequence. The end effector (45) is connected to the fixing fixture (41).

9. A robot for installing pipes according to claim 8, characterized in that, The robotic arm (4) also includes a moving mechanism (46), which includes a moving frame (461), an overall angle adjustment unit (462), and a translation motor (463). The overall angle adjustment unit (462) and the translation motor (463) are both mounted on the moving frame (461). The overall angle adjustment unit (462) is connected to the end push rod (45). The fixing clamp (41), the internal rotation unit (42), and the existing pipe fixing unit (47) are all mounted on the moving frame (461). The internal rotation unit (42) is mounted between the fixing clamp (41) and the existing pipe fixing unit (47).

10. A lifting and alignment method based on a robot for installing pipes as described in any one of claims 1-9, characterized in that, The robot also includes a hoisting rope, a hoisting platform (6), a hoisting winch (7), a universal pulley (5), and an angle control module. The hoisting platform (6), the hoisting winch (7), and the angle control module are all installed on the moving unit (1). The universal pulleys (5) are respectively installed on the robotic arm (4) and the hoisting platform (6). The hoisting rope passes sequentially through the universal pulleys (5) of the hoisting winch (7), the hoisting platform (6), and the robotic arm (4). The method includes the following steps: S1. The fixing clamp (41) of the robotic arm (4) clamps and fixes the pipe (2) to be installed. The hoisting winch (7) is connected to the robotic arm (4) through the hoisting rope. Then the robot moves to the installation position. S2. The angle control module monitors the pose of the pipe (2) to be installed in real time and compares it with the pose of the existing pipe (3); S3. Based on the comparison results, the position of the pipe to be installed (2) is adjusted by the angle control module to align with the existing pipe (3) to achieve the first alignment. S4. The internal rotating centering unit (42) extends into the pipe to be installed (2) and contacts the inner wall of the pipe to be installed (2) to be fixed as a whole. The internal rotating centering unit (42) is used to detect whether the flange holes of the pipe to be installed (2) and the existing pipe (3) are aligned. S5. If not aligned, the internal rotation centering unit (42) rotates the pipe to be installed (2) and aligns it with the flange hole of the existing pipe (3). Then the internal rotation centering unit (42) exits the pipe to be installed (2) and keeps the position of the pipe to be installed (2) unchanged. The robotic arm (4) moves the pipe to be installed (2) and contacts the existing pipe (3). S6. If the alignment is already in place, the robotic arm (4) moves the pipe to be installed (2) and makes contact with the existing pipe (3).

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